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Barath Kumar Jayachandran Kanchanamalini
Junior Robotics & Controls Engineer specializing in UAV autonomy and embedded systems
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About
Robotics software engineer focused on autonomous drones and mobile robotics: implemented a sliding mode inner-loop controller and a RealSense T265 VIO state-estimation pipeline integrated into ArduPilot EKF3 for GPS-denied indoor flight. Strong simulation-to-deployment experience (Gazebo/MAVROS to firmware), ROS2 networking/debugging, and hands-on validation through multi-sensor trials and log analysis.
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Key Strengths
- Designed and validated a sliding mode controller for aggressive/gusty flight where PID underperformed
- Built GPS-denied autonomy stack by integrating VIO (RealSense T265) with ArduPilot EKF3 including frame conversions
- Simulation-to-firmware deployment workflow (Gazebo/MAVROS validation then ArduPilot firmware integration)
- Systematic sensor and estimator validation via ~30 trials and log-based comparison across multiple sensor types
- ROS 2 integration for odometry/TF and visualization in RViz2; URDF modifications for sensor integration
- Debugged and mitigated distributed ROS2 communication issues (version compatibility, latency, UDP addressing)
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